Turn on the phone in Download Mode (press and hold Home + Power + Volume
Press Volume Up to continue
Connect the phone via USB
A blue box will appear in Odin and message will be seen
Click AP/PDA button and select recovery.tar.md5 file.
Click Start button
Wait for several minutes till the phone restarts
A green PASS text will be seen inside the Odin window
Copy update.zip to a memory card and plug it in the phone
Turn off the phone
Turn on the phone in Recovery Mode (press and hold Home + Power + Volume
Select Install update from sdcard
You should have seen SuperSU installed in your app drawer. Update SuperSU from Google Play Store later. Open it to double check if the phone is rooted correctly. Here is some screenshots of my phone verifying that root was successful.